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Of course the Catholic Church does not teach that “we must call on the saints or seek their help” but rather, two councils approved the salutory custom of invoking the faithful departed, one before and another after the Augsburg Confession of 25 June 1530:This, of course, would be the Lutheran response… Augsburg Confession, Article 21 :
AC XXI: Invocation of the Saints
Our churches teach that we are to remember the history of the saints so that our faith may be strengthened when we see how they experienced grace and how they were sustained by faith. Even more, their good works are to be an example for us, each of us in his own calling. Accordingly, his Imperial Majesty may follow the example of David [2 Samuel] in waging war to drive the Muslim invaders from our land. For both are kings.
However, it cannot be proved from the Scriptures that we must call on the saints or seek their help. “For there is one mediator between God and man, Christ Jesus” [1 Timothy 2:5], who is the only Savior, the only high priest, advocate, and intercessor before God [Romans 8:34]. He alone is to be prayed to. He has promised that He will hear our prayer [John 14:14]. The worship that He approves above all other is this: That we call on Him in all afflictions. “If anyone sins, we have an advocate with the Father” [1 John 2:1].
sothl.com/2014/07/20/augsburg-confession-article-21/
That comes directly from that Confession that most directly defines a Lutheran.
*]The Council of Vienne (1311–1312), states that they “assist us by their suffrages.”
*] The Council of Trent Session XXV (1563):
“the saints who reign together with Christ offer up their own prayers to God for men. It is good and useful suppliantly to invoke them, and to have recourse to their prayers, aid, and help for obtaining benefits from God, through His Son Jesus Christ our Lord, Who alone is our Redeemer and Saviour. Those persons think impiously who deny that the Saints, who enjoy eternal happiness in heaven, are to be invoked; or who assert either that they do not pray for men, or that the invocation of them to pray for each of us is idolatry, or that it is repugnant to the word of God, and is opposed to the honour of the one Mediator of God and men, Jesus Christ”
The Church has formally approved the practice in the decree of Pope Leo XIII ( Acta Sanctae Sedis, 1889-90, p. 743) granting an indulgence for any prayer in which the intercession of the faithful departed is petitioned.